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WO2008112420A3 - Système et procédé d'enregistrement déformable local d'un système de navigation de cathéter pour imager des données ou un modèle - Google Patents

Système et procédé d'enregistrement déformable local d'un système de navigation de cathéter pour imager des données ou un modèle Download PDF

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Publication number
WO2008112420A3
WO2008112420A3 PCT/US2008/054969 US2008054969W WO2008112420A3 WO 2008112420 A3 WO2008112420 A3 WO 2008112420A3 US 2008054969 W US2008054969 W US 2008054969W WO 2008112420 A3 WO2008112420 A3 WO 2008112420A3
Authority
WO
WIPO (PCT)
Prior art keywords
catheter navigation
location
navigation system
position information
dimensional image
Prior art date
Application number
PCT/US2008/054969
Other languages
English (en)
Other versions
WO2008112420A2 (fr
Inventor
Eric S Olson
Eric J Voth
Jeffrey A Schweitzer
Original Assignee
St Jude Medical Atrial Fibrill
Eric S Olson
Eric J Voth
Jeffrey A Schweitzer
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by St Jude Medical Atrial Fibrill, Eric S Olson, Eric J Voth, Jeffrey A Schweitzer filed Critical St Jude Medical Atrial Fibrill
Priority to EP08730719.5A priority Critical patent/EP2121099B1/fr
Priority to JP2009552798A priority patent/JP5866136B2/ja
Publication of WO2008112420A2 publication Critical patent/WO2008112420A2/fr
Publication of WO2008112420A3 publication Critical patent/WO2008112420A3/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00022—Sensing or detecting at the treatment site
    • A61B2017/00039—Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
    • A61B2017/00044—Sensing electrocardiography, i.e. ECG
    • A61B2017/00048—Spectral analysis
    • A61B2017/00053—Mapping
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00238—Type of minimally invasive operation
    • A61B2017/00243—Type of minimally invasive operation cardiac
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00694—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body
    • A61B2017/00703—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body correcting for movement of heart, e.g. ECG-triggered
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A61B2034/2053—Tracking an applied voltage gradient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2072—Reference field transducer attached to an instrument or patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Robotics (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)
  • Measurement And Recording Of Electrical Phenomena And Electrical Characteristics Of The Living Body (AREA)

Abstract

L'invention concerne un procédé d'enregistrement d'un système de navigation de cathéter sur une image tridimensionnelle. De façon générale, le procédé comporte l'obtention d'une image tridimensionnelle comprenant des informations de position pour une pluralité de points de surface sur une partie du corps d'un patient ; l'utilisation d'un système de navigation de cathéter permettant d'installer un outil à un emplacement situé à l'extérieur du corps du patient ; la mesure des informations de position pour l'emplacement ; l'identification d'un emplacement correspondant sur l'image ; l'association des informations de position pour l'emplacement de surface et l'emplacement identifié sur l'image en tant que paire fiduciaire ; et l'utilisation d'au moins une paire fiduciaire pour générer une fonction de mappage. La fonction de mappage transforme les points exprimés comme points du système de coordonnées de navigation du cathéter en points du système de coordonnées de l'image tridimensionnelle de sorte que, pour chaque paire fiduciaire, l'erreur de mappage est d'environ zéro. Des algorithmes de gauchissement appropriés comprennent les cannelures de plaques minces, les coordonnées de valeurs moyennes et les réseaux de fonction à base radiale.
PCT/US2008/054969 2007-03-09 2008-02-26 Système et procédé d'enregistrement déformable local d'un système de navigation de cathéter pour imager des données ou un modèle WO2008112420A2 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP08730719.5A EP2121099B1 (fr) 2007-03-09 2008-02-26 Système et procédé d'enregistrement déformable local d'un système de navigation de cathéter pour imager des données ou un modèle
JP2009552798A JP5866136B2 (ja) 2007-03-09 2008-02-26 イメージデータ又はモデルにカテーテル案内システムの局所的非剛体位置合わせのためのシステム及び方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US11/715,923 2007-03-09
US11/715,923 US10433929B2 (en) 2007-03-09 2007-03-09 System and method for local deformable registration of a catheter navigation system to image data or a model

Publications (2)

Publication Number Publication Date
WO2008112420A2 WO2008112420A2 (fr) 2008-09-18
WO2008112420A3 true WO2008112420A3 (fr) 2008-11-27

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2008/054969 WO2008112420A2 (fr) 2007-03-09 2008-02-26 Système et procédé d'enregistrement déformable local d'un système de navigation de cathéter pour imager des données ou un modèle

Country Status (4)

Country Link
US (2) US10433929B2 (fr)
EP (1) EP2121099B1 (fr)
JP (1) JP5866136B2 (fr)
WO (1) WO2008112420A2 (fr)

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JP2010520784A (ja) 2010-06-17
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US20080221425A1 (en) 2008-09-11

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